Design of a Robot for carrying out research on hybrid robot's mobility: case of a mecanum wheel-legged robot

摘要

The advancement of technology favors the creation of intelligent machines capable of executing complex tasks. Automated machines that can be teleoperated or autonomous open up a vast pool of possibilities, among which substituting humans in some instances where their safety is endangered, which is one of the significant advantages. Having the ability to substitute humans sets some requirements like object manipulation, mobility, and intelligence. Various mechanisms are employed to provide mobility to the machines considering the mobility aspect. The most common mobile robots are quadruped robots because of their advantages. Over the years, many ideas have been proposed for quadruped robot designs to address specific problems. An improvement of quadruped robots is hybrid wheel-legged robots, on which researches are still ongoing-this paper attempt to address the robots' mobility problem with a mecanum wheel-legged robot design proposal. The paper discusses the design concerning three aspects: mechanical, electronic, and software. The targeted goal is to provide a robot platform that can be used to conduct research on wheel-legged robot mobility.